TY - GEN
T1 - Flexible ultrasonic motor using an output coil spring slider
AU - Kanada, Ayato
AU - Mashimo, Tomoaki
AU - Terashima, Kazuhiko
N1 - Funding Information:
This research has been supported in part by JSPS KAKENHI Grant Number 16H06075 and the Leading Graduate Scholl Program 03.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - We present a flexible ultrasonic motor that generates linear motion as a novel soft actuator. This motor is comprised of a single cube stator with a through-hole, and a flexible coil spring inserted into the hole. The coil spring, which has a diameter of 10 mm and length of 200 mm, is translated by a vibration generated in the stator. A preload between the stator and the coil spring is important for improving the motor performance. The coil spring inserted into the stator hole generates the preload by expanding in a radial direction. We build a prototype flexible ultrasonic motor, and examine its basic performance parameters such as thrust force, velocity, response time, resolution and flexibility. To demonstrate flexibility, we show the stable thrust force and velocity even when the coil spring is bent to a bending radius of 15 mm.
AB - We present a flexible ultrasonic motor that generates linear motion as a novel soft actuator. This motor is comprised of a single cube stator with a through-hole, and a flexible coil spring inserted into the hole. The coil spring, which has a diameter of 10 mm and length of 200 mm, is translated by a vibration generated in the stator. A preload between the stator and the coil spring is important for improving the motor performance. The coil spring inserted into the stator hole generates the preload by expanding in a radial direction. We build a prototype flexible ultrasonic motor, and examine its basic performance parameters such as thrust force, velocity, response time, resolution and flexibility. To demonstrate flexibility, we show the stable thrust force and velocity even when the coil spring is bent to a bending radius of 15 mm.
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U2 - 10.1109/IROS.2017.8206449
DO - 10.1109/IROS.2017.8206449
M3 - Conference contribution
AN - SCOPUS:85041965339
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5616
EP - 5621
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -